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Jialong Xie,Botao Zhang,Qiang Lu,Oleg Borisov 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
Head gesture is a natural and non-verbal communication method for human-computer and human-robot interaction, conveying attitudes and intentions. However, the existing vision-based recognition methods cannot meet the precision and robustness of interaction requirements. Due to the limited computational resources, applying most high-accuracy methods to mobile and onboard devices is challenging. Moreover, the wearable device-based approach is inconvenient and expensive. To deal with these problems, an end-to-end two-stream fusion network named TSIR3D is proposed to identify head gestures from videos for analyzing human attitudes and intentions. Inspired by Inception and ResNet architecture, the width and depth of the network are increased to capture motion features sufficiently. Meanwhile, convolutional kernels are expanded from the spatial domain to the spatiotemporal domain for temporal feature extraction. The fusion position of the two-stream channel is explored under an accuracy/complexity trade-off to a certain extent. Furthermore, a dynamic head gesture dataset named DHG and a behavior tree are designed for human-robot interaction. Experimental results show that the proposed method has advantages in real-time performance on the remote server or the onboard computer. Furthermore, its accuracy on the DHG can surpass most state-of-the-art vision-based methods and is even better than most previous approaches based on head-mounted sensors. Finally, TSIR3D is applied on Pepper Robot equipped with Jetson TX2.
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Aimin Zhang,Guoqun Zhao,Jialong Chai,Junji Hou,Chunxia Yang,Guilong Wang 한국섬유공학회 2020 Fibers and polymers Vol.21 No.12
The crystalline behavior and mechanical properties of PP/GF (glass fibers) composites molded by rapid heat cyclemolding (RHCM) and conventional injection molding (CIM) were compared. SEM, DSC and XRD were utilized to studycrystallization behavior of PP and PP/GF composites. Furthermore, universal testing machine was employed to investigatethe mechanical properties. Results proved that higher degree of crystallinity and larger crystal size can be obtained in RHCMin comparison to CIM. GF can induce more crystal nuclei and then reduce the crystal size due to shear stress which isgenerated in polymer matrix around fibers. Nucleating agent (NA) has a positive effect on refine grains. The average crystaldiameter of PP/NA/30 %GF is about 1.7 μm which is one-tenth of PP/30 %GF (14 μm) in RHCM. XRD tests illustrated thatα-form crystal is the main crystal type for PP and PP/GF composites in RHCM and CIM. However, there is a little β-formcrystal in RHCM for PP/GF composites without NA. NA accelerates the formation of α-form crystal and restrains theemergence of β-form crystal. The plastic parts obtained in RHCM exhibited higher strength and modulus compared with thatobtained in CIM for both tensile and flexural tests.
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Numerical study on CMT boron replenishment strategy for an AP1000 nuclear power unit
Hong Wang,Miao Zhang,Jialong Li,Junpeng Wang 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.6
The passive safety system is adopted in an AP1000 nuclear power unit to improve the operation safety ofthe whole unit. However, due to boron diffusion and periodic sampling, boron dilution occurs in the coremakeup tank. The boron replenishment process in the core makeup tank is essential and becomesparticularly important. Based on the validated models, this article numerically investigates the influenceof the replenishment flow rate and the position on the boron distribution in the core makeup tank. Thethermal fatigue phenomenon of the “T” connection caused by replenishment is analyzed. Finally, thereplenishment strategy is proposed to benefit both boron mixing in the core makeup tank and eliminating the thermal fatigue of the “T” connection
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Color-Image Guided Depth Map Super-Resolution Based on Iterative Depth Feature Enhancement
( Lijun Zhao ),( Ke Wang ),( Jinjing Zhang ),( Jialong Zhang ),( Anhong Wang ) 한국인터넷정보학회 2023 KSII Transactions on Internet and Information Syst Vol.17 No.8
With the rapid development of deep learning, Depth Map Super-Resolution (DMSR) method has achieved more advanced performances. However, when the upsampling rate is very large, it is difficult to capture the structural consistency between color features and depth features by these DMSR methods. Therefore, we propose a color-image guided DMSR method based on iterative depth feature enhancement. Considering the feature difference between high-quality color features and low-quality depth features, we propose to decompose the depth features into High-Frequency (HF) and Low-Frequency (LF) components. Due to structural homogeneity of depth HF components and HF color features, only HF color features are used to enhance the depth HF features without using the LF color features. Before the HF and LF depth feature decomposition, the LF component of the previous depth decomposition and the updated HF component are combined together. After decomposing and reorganizing recursively-updated features, we combine all the depth LF features with the final updated depth HF features to obtain the enhanced-depth features. Next, the enhanced-depth features are input into the multi-stage depth map fusion reconstruction block, in which the cross enhancement module is introduced into the reconstruction block to fully mine the spatial correlation of depth map by interleaving various features between different convolution groups. Experimental results can show that the two objective assessments of root mean square error and mean absolute deviation of the proposed method are superior to those of many latest DMSR methods.
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Study on Variable Parameter Helical Milling of TC4 Titanium Alloy Tube
Anyuan Jiao,Jingqi Yuan,Yue Zhang,Jialong Zhang,Yongxin Miao,Guojun Liu 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.11
Titanium alloy was widely used in various tubing systems due to the excellent performance, and tubes were usually used as a connection channel for conveying media with holes. However, the stability and dependability of media transmission in the tubing system would be directly impacted by the quality of the holes. This study primarily focused on TC4 titanium alloy tubes to investigate variable parameter helical milling holes to enhance the quality of tube connection holes. The finite element method simulation and response surface method were used to examine the relationship between each process parameter and the accuracy of the holes. Thus, a better combination of process parameters was projected. And based on this, a variable parameter hole-making scheme was proposed to lower the burrs at the entrance and exit of holes and enhance the quality of the wall of holes. The results showed that the aperture of 5.015 mm after processing the titanium alloy tube using the better process parameters met the requirements of H8. Additionally, the burrs at the hole entrance were 1.4 μm, the burrs at the hole exit were not noticeable, and the surface roughness Rz and Ra were 1.459 μm and 0.232 μm, respectively, met the requirements of process technology. The variable parameter helical milling technique used in this study could significantly raise the quality of holes produced in titanium alloy tubes and serve as a valuable benchmark for tubes of other materials.
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